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The Research and Implementation of High Performance Motion Control System Based on Embedded Platform

Author: DengQiHui
Tutor: LuZuoXian
School: Wuhan University of Technology
Course: Communication and Information System
Keywords: Motion Control DSP FPGA Real-time operating system
CLC: TP273
Type: Master's thesis
Year: 2005
Downloads: 461
Quote: 4
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Abstract


Motion control technology of mechanical moving parts of position and speed control and management of real-time, to follow the expected trajectory of motion parameters and a predetermined exercise technique. Motion control technology development thanks to the microelectronics technology, power electronics technology, sensor technology, automatic control technology, computer application technology's overall development. Currently, the use of a microprocessor, FPGA / CPLD, general-purpose computer, DSP controller embedded technology constitutes a digital control system is being developed rapidly. Application of advanced algorithms, developed all-digital, open control system will become a new generation of motion control system design development direction. Through this project open CNC technology and motion control technology research, motion control technology for the domestic status of a late start, followed by the current motion control technology trends, absorbing the world of open CNC technology and related motion control technology the latest results, DSP FPGA-based solution, designed a high-speed linear motor for high-precision motion control card. The main contents are as follows: First, in the analysis and design requirements and the characteristics of the control object, based on the combination of DSP processor computing speed, high precision and FPGA programming flexibility characteristics, determine selection of TI's TMS320C32 DSP and Altera Corporation Flex 10k10 FPGA motion control system composed of a core, and plan the overall structure of the system. Second, around the core processing unit is designed TMS320C32 motion control system memory module, PC-DSP data exchange module, D / A output modules other parts of the circuit. Then, for FPGA in motion control system application in Flex 10k10 on the design of functional, include four to fine resolution, reversible counting, latch access position detection module and address decoding circuitry. Finally, in order to achieve good performance and real-time control of open software architecture, software design in motion control system used μC/OS- Ⅱ unified scheduling the execution of each task, also introduced since the launch of DSP-based software, online burning FLASH, etc. embedded software development techniques. Motion control system, PC machine coordinate the ideal motion profile data through the DSP-PC data exchange module is passed to the DSP, DSP calculate the ideal position obtained by the position detection module error between the actual position value of the motor calculated by the PID algorithm control amount, after D / A converting the digital control value to an analog output to the linear motor control, closed loop control.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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